{"id":"https://openalex.org/W2935599202","doi":"https://doi.org/10.1109/lra.2019.2906556","title":"Transcend Anthropomorphic Robotic Grasping With Modular Antagonistic Mechanisms and Adhesive Soft Modulations","display_name":"Transcend Anthropomorphic Robotic Grasping With Modular Antagonistic Mechanisms and Adhesive Soft Modulations","publication_year":2019,"publication_date":"2019-03-27","ids":{"openalex":"https://openalex.org/W2935599202","doi":"https://doi.org/10.1109/lra.2019.2906556","mag":"2935599202"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2906556","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2906556","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100330888","display_name":"Changsheng Li","orcid":"https://orcid.org/0000-0003-2469-4222"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Changsheng Li","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080883308","display_name":"Xiaoyi Gu","orcid":"https://orcid.org/0000-0003-4257-3555"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xiaoyi Gu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100451719","display_name":"Xiao Xiao","orcid":"https://orcid.org/0000-0002-1254-5740"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xiao Xiao","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050027236","display_name":"Guo\u2010Niu Zhu","orcid":"https://orcid.org/0000-0003-2421-740X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Guoniu Zhu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071662356","display_name":"A. V. Prituja","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"A. V. Prituja","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032340829","display_name":"Hongliang Ren","orcid":"https://orcid.org/0000-0002-6488-1551"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hongliang Ren","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100330888"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":1.0925,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.75117312,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"4","issue":"3","first_page":"2463","last_page":"2470"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7473007440567017},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.683811366558075},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6195874810218811},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.5492050051689148},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4987754821777344},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4956163167953491},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.46330955624580383},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4427459239959717},{"id":"https://openalex.org/keywords/soft-materials","display_name":"Soft materials","score":0.4195592403411865},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.399490624666214},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.358512282371521},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3547840416431427},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2073960304260254},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.1308557689189911},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09636110067367554},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.08656331896781921}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7473007440567017},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.683811366558075},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6195874810218811},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.5492050051689148},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4987754821777344},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4956163167953491},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.46330955624580383},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4427459239959717},{"id":"https://openalex.org/C2982836594","wikidata":"https://www.wikidata.org/wiki/Q902144","display_name":"Soft materials","level":2,"score":0.4195592403411865},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.399490624666214},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.358512282371521},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3547840416431427},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2073960304260254},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.1308557689189911},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09636110067367554},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.08656331896781921},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2906556","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2906556","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.8199999928474426,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1409685371","display_name":null,"funder_award_id":"ONRG-NICOP-N62909-15-1-2019","funder_id":"https://openalex.org/F4320338298","funder_display_name":"Office of Naval Research Global"},{"id":"https://openalex.org/G6430793676","display_name":null,"funder_award_id":"2018YFB1307703","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320338298","display_name":"Office of Naval Research Global","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W432289371","https://openalex.org/W834378285","https://openalex.org/W1966906328","https://openalex.org/W1999375810","https://openalex.org/W2002238231","https://openalex.org/W2015746076","https://openalex.org/W2032115476","https://openalex.org/W2048553957","https://openalex.org/W2065693146","https://openalex.org/W2066878366","https://openalex.org/W2083520340","https://openalex.org/W2093847731","https://openalex.org/W2117197536","https://openalex.org/W2120529242","https://openalex.org/W2137256122","https://openalex.org/W2154403502","https://openalex.org/W2155337985","https://openalex.org/W2162578747","https://openalex.org/W2164575107","https://openalex.org/W2236954786","https://openalex.org/W2295179809","https://openalex.org/W2296944518","https://openalex.org/W2527408187","https://openalex.org/W2608405054","https://openalex.org/W2765244403","https://openalex.org/W2775489330","https://openalex.org/W2783395739","https://openalex.org/W2790686886","https://openalex.org/W2793703784","https://openalex.org/W2885478919","https://openalex.org/W2912663298","https://openalex.org/W2917385157","https://openalex.org/W4240536230","https://openalex.org/W6654387064","https://openalex.org/W6671116944","https://openalex.org/W6697329900"],"related_works":["https://openalex.org/W3134474396","https://openalex.org/W1515749184","https://openalex.org/W4367041227","https://openalex.org/W2806506062","https://openalex.org/W4285221039","https://openalex.org/W2296446406","https://openalex.org/W3164201927","https://openalex.org/W3196562368","https://openalex.org/W3094251759","https://openalex.org/W3161089714"],"abstract_inverted_index":{"This":[0],"letter":[1],"presents":[2],"a":[3,60],"robotic":[4,49,107,124,152],"hand":[5,42,50,108,130,153],"with":[6,17,43,56,62,73],"modular":[7,29],"antagonistic":[8,30],"fingers":[9,55,96],"and":[10,19,36,45,59,91,116,132,147],"adhesive":[11,145],"soft":[12,32,44,74,121,144],"modulations":[13,101,146],"for":[14,97],"general":[15],"purposes":[16],"grasping":[18,111],"manipulation":[20],"capabilities.":[21],"The":[22,48,76,123],"anthropomorphic":[23],"design":[24],"includes":[25],"the":[26,87,92,95,103,106,120,133,143,148,151],"hand-like":[27],"configuration,":[28],"fingers,":[31],"modulations,":[33],"compliant":[34],"joints,":[35],"tendon-driven":[37],"actuation":[38],"inspired":[39],"by":[40,113,128],"human":[41,129],"rigid":[46],"structures.":[47],"is":[51],"composed":[52],"of":[53,68,89,94,105,150,158],"five":[54],"multiple":[57],"joints":[58],"palm":[61],"two":[63],"joints.":[64],"Each":[65],"finger":[66],"consists":[67],"one":[69],"or":[70],"more":[71],"modules":[72,77],"modulations.":[75],"can":[78,136],"be":[79],"quickly":[80],"assembled":[81],"through":[82],"structural":[83],"coupling":[84],"to":[85,119],"change":[86],"degrees":[88],"freedom":[90],"length":[93],"variable-workspace":[98],"grasping/manipulation.":[99,139,159],"Soft":[100],"as":[102],"skin":[104],"enhance":[109],"unconventional":[110],"stability":[112],"regulating":[114],"positive":[115],"negative":[117],"pressure":[118],"layers.":[122],"motion":[125],"control":[126],"driven":[127],"gesture":[131],"motor":[134],"torque":[135],"achieve":[137],"versatile":[138],"Experimental":[140],"results":[141],"validate":[142],"capability":[149],"on":[154],"performing":[155],"various":[156],"types":[157]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}